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1158 | pj | 1 | /* |
2 | * Project: S.Ha.R.K. |
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3 | * |
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4 | * Coordinators: |
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5 | * Giorgio Buttazzo <giorgio@sssup.it> |
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6 | * Paolo Gai <pj@gandalf.sssup.it> |
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7 | * |
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8 | * Authors : |
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9 | * Paolo Gai <pj@gandalf.sssup.it> |
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10 | * (see the web pages for full authors list) |
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11 | * |
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12 | * ReTiS Lab (Scuola Superiore S.Anna - Pisa - Italy) |
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13 | * |
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14 | * http://www.sssup.it |
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15 | * http://retis.sssup.it |
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16 | * http://shark.sssup.it |
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17 | */ |
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18 | |||
19 | /** |
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20 | ------------ |
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1381 | giacomo | 21 | CVS : $Id: rrn.c,v 1.4 2004-04-18 18:48:22 giacomo Exp $ |
1158 | pj | 22 | |
23 | File: $File$ |
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1381 | giacomo | 24 | Revision: $Revision: 1.4 $ |
25 | Last update: $Date: 2004-04-18 18:48:22 $ |
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1158 | pj | 26 | ------------ |
27 | **/ |
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28 | |||
29 | /* |
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30 | * Copyright (C) 2003 Paolo Gai |
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31 | * |
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32 | * This program is free software; you can redistribute it and/or modify |
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33 | * it under the terms of the GNU General Public License as published by |
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34 | * the Free Software Foundation; either version 2 of the License, or |
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35 | * (at your option) any later version. |
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36 | * |
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37 | * This program is distributed in the hope that it will be useful, |
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38 | * but WITHOUT ANY WARRANTY; without even the implied warranty of |
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39 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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40 | * GNU General Public License for more details. |
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41 | * |
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42 | * You should have received a copy of the GNU General Public License |
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43 | * along with this program; if not, write to the Free Software |
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44 | * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA |
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45 | * |
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46 | */ |
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47 | |||
48 | #include "kernel/kern.h" |
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1380 | giacomo | 49 | #include "modules/intdrive.h" |
1158 | pj | 50 | #include "modules/edf.h" |
51 | #include "modules/rr.h" |
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52 | #include "modules/rrsoft.h" |
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53 | #include "modules/dummy.h" |
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54 | |||
55 | #include "modules/sem.h" |
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56 | #include "modules/hartport.h" |
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57 | #include "modules/cabs.h" |
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58 | |||
1380 | giacomo | 59 | #include "modules/nop.h" |
60 | |||
1381 | giacomo | 61 | #include <drivers/shark_linuxc26.h> |
62 | #include <drivers/shark_pci26.h> |
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63 | #include <drivers/shark_input26.h> |
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64 | #include <drivers/shark_keyb26.h> |
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65 | #include <drivers/shark_fb26.h> |
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66 | |||
67 | #define FRAME_BUFFER_DEVICE 0 |
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68 | |||
1158 | pj | 69 | /*+ sysyem tick in us +*/ |
70 | #define TICK 0 |
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71 | |||
72 | /*+ RR tick in us +*/ |
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73 | #define RRTICK 2000 |
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74 | |||
1379 | giacomo | 75 | /*+ Interrupt Server +*/ |
76 | #define INTDRIVE_Q 1000 |
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77 | #define INTDRIVE_T 10000 |
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78 | #define INTDRIVE_FLAG 0 |
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79 | |||
1381 | giacomo | 80 | PID shutdown_task_PID = -1; |
81 | |||
1158 | pj | 82 | TIME __kernel_register_levels__(void *arg) |
83 | { |
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84 | struct multiboot_info *mb = (struct multiboot_info *)arg; |
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85 | |||
1379 | giacomo | 86 | INTDRIVE_register_level(INTDRIVE_Q,INTDRIVE_T,INTDRIVE_FLAG); |
1158 | pj | 87 | RR_register_level(RRTICK, RR_MAIN_NO, mb); // this module remains empty!!! |
88 | RRSOFT_register_level(RRTICK, RR_MAIN_NO, mb, RRSOFT_ONLY_HARD|RRSOFT_ONLY_SOFT); |
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89 | RR_register_level(RRTICK, RR_MAIN_YES, mb); |
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90 | dummy_register_level(); |
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91 | |||
92 | SEM_register_module(); |
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93 | |||
94 | CABS_register_module(); |
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95 | |||
1380 | giacomo | 96 | NOP_register_module(); |
97 | |||
1158 | pj | 98 | return TICK; |
99 | } |
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100 | |||
1381 | giacomo | 101 | int device_drivers_close() { |
102 | |||
103 | FB26_close(FRAME_BUFFER_DEVICE); |
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104 | |||
105 | KEYB26_close(); |
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106 | |||
107 | INPUT26_close(); |
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108 | |||
109 | return 0; |
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110 | |||
111 | } |
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112 | |||
113 | int device_drivers_init() { |
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114 | |||
115 | int res; |
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116 | KEYB_PARMS kparms = BASE_KEYB; |
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117 | |||
118 | LINUXC26_register_module(); |
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119 | |||
120 | PCI26_init(); |
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121 | |||
122 | INPUT26_init(); |
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123 | |||
124 | keyb_def_ctrlC(kparms, NULL); |
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125 | |||
126 | KEYB26_init(&kparms); |
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127 | |||
128 | FB26_init(); |
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129 | |||
130 | res = FB26_open(FRAME_BUFFER_DEVICE); |
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131 | if (res) { |
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132 | cprintf("Error: Cannot open graphical mode\n"); |
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133 | KEYB26_close(); |
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134 | INPUT26_close(); |
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135 | sys_end(); |
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136 | } |
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137 | |||
138 | FB26_use_grx(FRAME_BUFFER_DEVICE); |
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139 | |||
140 | FB26_setmode(FRAME_BUFFER_DEVICE,"640x480-16"); |
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141 | |||
142 | return 0; |
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143 | |||
144 | } |
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145 | |||
146 | TASK shutdown_task_body(void *arg) { |
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147 | |||
148 | device_drivers_close(); |
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149 | |||
150 | sys_shutdown_message("-- S.Ha.R.K. Closed --\n"); |
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151 | |||
152 | sys_end(); |
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153 | |||
154 | return NULL; |
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155 | |||
156 | } |
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157 | |||
158 | void set_shutdown_task() { |
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159 | |||
160 | NRT_TASK_MODEL nrt; |
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161 | |||
162 | nrt_task_default_model(nrt); |
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163 | nrt_task_def_system(nrt); |
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164 | nrt_task_def_nokill(nrt); |
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165 | |||
166 | shutdown_task_PID = task_create("Shutdown Task",shutdown_task_body,&nrt,NULL); |
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167 | if (shutdown_task_PID == NIL) { |
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168 | sys_shutdown_message("Error: Cannot create shutdown task\n"); |
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169 | sys_end(); |
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170 | } |
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171 | |||
172 | } |
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173 | |||
174 | void call_shutdown_task(void *arg) { |
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175 | |||
176 | task_activate(shutdown_task_PID); |
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177 | |||
178 | } |
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179 | |||
1158 | pj | 180 | TASK __init__(void *arg) |
181 | { |
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182 | struct multiboot_info *mb = (struct multiboot_info *)arg; |
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183 | |||
184 | HARTPORT_init(); |
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185 | |||
1381 | giacomo | 186 | set_shutdown_task(); |
187 | |||
188 | device_drivers_init(); |
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189 | |||
190 | sys_atrunlevel(call_shutdown_task, NULL, RUNLEVEL_SHUTDOWN); |
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191 | |||
1158 | pj | 192 | __call_main__(mb); |
193 | |||
194 | return (void *)0; |
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195 | } |
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1380 | giacomo | 196 | |
197 | void app_mutex_init(mutex_t *m) |
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198 | { |
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199 | NOP_mutexattr_t attr; |
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200 | |||
201 | NOP_mutexattr_default(attr); |
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202 | |||
203 | mutex_init(m, &attr); |
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204 | } |
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205 |